Multi instance SHT3x driver support

PX4 · Jan 27, 2022 · 1c8a015 · 1c8a015
1 parent bdddf35
commit 1c8a015
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Showing 3 changed files with 5 additions and 7 deletions.
diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -133,10 +133,8 @@ fi
 # SHT3x temperature and hygrometer sensor, external I2C
 if param compare -s SENS_EN_SHT3X 1
 then
-	if ! sht3x start -X
-	then
-		sht3x start -X -a 0x45
-	fi
+	sht3x start -X
+	sht3x start -X -a 0x45
 fi
 
 # TE MS4525 differential pressure sensor external I2C

diff --git a/src/drivers/hygrometer/sht3x/sht3x.h b/src/drivers/hygrometer/sht3x/sht3x.h
@@ -48,7 +48,7 @@
 #include <px4_platform_common/module.h>
 #include <px4_platform_common/module_params.h>
 #include <px4_platform_common/i2c_spi_buses.h>
-#include <uORB/Publication.hpp>
+#include <uORB/PublicationMulti.hpp>
 #include <uORB/topics/sensor_hygrometer.h>
 
 #define SHT3X_CMD_READ_STATUS			0xF32D
@@ -114,7 +114,7 @@ class SHT3X : public device::I2C, public ModuleParams, public I2CSPIDriver<SHT3X
 	int _last_state = sht3x_state::INIT;
 	uint32_t _time_in_state = hrt_absolute_time();
 	uint16_t _last_command = 0;
-	uORB::Publication<sensor_hygrometer_s> _sensor_hygrometer_pub{ORB_ID(sensor_hygrometer)};
+	uORB::PublicationMulti<sensor_hygrometer_s> _sensor_hygrometer_pub{ORB_ID(sensor_hygrometer)};
 
 	DEFINE_PARAMETERS(
 		(ParamInt<px4::params::SENS_EN_SHT3X>) _param_sens_en_sht3x

diff --git a/src/modules/logger/logged_topics.cpp b/src/modules/logger/logged_topics.cpp
@@ -87,7 +87,6 @@ void LoggedTopics::add_default_topics()
 	add_topic("rtl_time_estimate", 1000);
 	add_topic("safety");
 	add_topic("sensor_combined");
-	add_topic("sensor_hygrometer", 500);
 	add_optional_topic("sensor_correction");
 	add_optional_topic("sensor_gyro_fft", 50);
 	add_topic("sensor_selection");
@@ -123,6 +122,7 @@ void LoggedTopics::add_default_topics()
 	add_topic_multi("airspeed_wind", 1000, 4);
 	add_topic_multi("control_allocator_status", 200, 2);
 	add_optional_topic_multi("rate_ctrl_status", 200, 2);
+	add_topic_multi("sensor_hygrometer", 500, 4);
 	add_optional_topic_multi("telemetry_status", 1000, 4);
 
 	// EKF multi topics (currently max 9 estimators)